Created ROS package prototypes for communication within ROS

102b5e42 · Svetlana · 5b1f233d · 102b5e42 · 102b5e42 · 102b5e42
Commit 102b5e42 authored Feb 16, 2018 by Svetlana
8 changed files
--- a/.gitignore
+++ b/.gitignore
+*.idea*
+*cmake-build-*
+
+/torcs/config.log
+/torcs/config.status
+/torcs/Make-config
--- a/RosWorkspace/src/basic_ports/CMakeLists.txt
+++ b/RosWorkspace/src/basic_ports/CMakeLists.txt
 cmake_minimum_required(VERSION 2.8.3)
-project(basic_ports)
+project(listener)

 ## Compile as C++11, supported in ROS Kinetic and newer
 # add_compile_options(-std=c++11)
@@ -97,13 +97,13 @@ find_package(catkin REQUIRED COMPONENTS
 ###################################
 ## The catkin_package macro generates cmake config files for your package
 ## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
+## INCLUDE_DIRS: uncomment this if your package contains header files
 ## LIBRARIES: libraries you create in this project that dependent projects also need
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
-#  LIBRARIES basic_ports
+#  LIBRARIES listener
 #  CATKIN_DEPENDS roscpp std_msgs
 #  DEPENDS system_lib
 )
@@ -121,7 +121,7 @@ include_directories(

 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/basic_ports.cpp
+#   src/${PROJECT_NAME}/listener.cpp
 # )

 ## Add cmake target dependencies of the library
@@ -132,7 +132,7 @@ include_directories(
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/basic_ports_node.cpp)
+add_executable(${PROJECT_NAME} src/main.cpp)

 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
@@ -145,9 +145,9 @@ include_directories(
 # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

 ## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-#   ${catkin_LIBRARIES}
-# )
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+)

 #############
 ## Install ##
@@ -189,7 +189,7 @@ include_directories(
 #############

 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_basic_ports.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_listener.cpp)
 # if(TARGET ${PROJECT_NAME}-test)
 #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 # endif()

--- a/RosWorkspace/src/basic_ports/package.xml
+++ b/RosWorkspace/src/basic_ports/package.xml
 <?xml version="1.0"?>
-<package>
-  <name>basic_ports</name>
+<package format="2">
+  <name>listener</name>
  <version>0.0.0</version>
-  <description>The basic_ports package</description>
+  <description>The listener package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="alex@todo.todo">alex</maintainer>
+  <maintainer email="svetlana.pavlitskaya@rwth-aachen.de">Sveta</maintainer>


  <!-- One license tag required, multiple allowed, one license per tag -->
@@ -19,7 +19,7 @@
  <!-- Url tags are optional, but multiple are allowed, one per tag -->
  <!-- Optional attribute type can be: website, bugtracker, or repository -->
  <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/basic_ports</url> -->
+  <!-- <url type="website">http://wiki.ros.org/listener</url> -->


  <!-- Author tags are optional, multiple are allowed, one per tag -->
@@ -28,22 +28,33 @@
  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->


-  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- The *depend tags are used to specify dependencies -->
  <!-- Dependencies can be catkin packages or system dependencies -->
  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
  <!-- Use build_depend for packages you need at compile time: -->
  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
  <!-- Use buildtool_depend for build tool packages: -->
  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use run_depend for packages you need at runtime: -->
-  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>std_msgs</build_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>std_msgs</run_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>std_msgs</exec_depend>


  <!-- The export tag contains other, unspecified, tags -->

--- a/RosWorkspace/src/listener/src/main.cpp
+++ b/RosWorkspace/src/listener/src/main.cpp
+// %Tag(FULLTEXT)%
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+
+// %Tag(CALLBACK)%
+void chatterCallback(const std_msgs::String::ConstPtr& msg)
+{
+    ROS_INFO("I heard: [%s]", msg->data.c_str());
+}
+// %EndTag(CALLBACK)%
+
+int main(int argc, char **argv)
+{
+    ros::init(argc, argv, "listener");
+
+    ros::NodeHandle n;
+
+// %Tag(SUBSCRIBER)%
+    ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
+// %EndTag(SUBSCRIBER)%
+
+// %Tag(SPIN)%
+    ros::spin();
+// %EndTag(SPIN)%
+
+    return 0;
+}
+// %EndTag(FULLTEXT)%
--- a/RosWorkspace/src/publisher/CMakeLists.txt
+++ b/RosWorkspace/src/publisher/CMakeLists.txt
+cmake_minimum_required(VERSION 2.8.3)
+project(publisher)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES publisher
+#  CATKIN_DEPENDS roscpp std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/publisher.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(${PROJECT_NAME} src/main.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_publisher.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
--- a/RosWorkspace/src/publisher/package.xml
+++ b/RosWorkspace/src/publisher/package.xml
+<?xml version="1.0"?>
+<package format="2">
+  <name>publisher</name>
+  <version>0.0.0</version>
+  <description>The publisher package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="svetlana.pavlitskaya@rwth-aachen.de">Sveta</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/publisher</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
--- a/RosWorkspace/src/publisher/src/main.cpp
+++ b/RosWorkspace/src/publisher/src/main.cpp
+// %Tag(FULLTEXT)%
+// %Tag(ROS_HEADER)%
+#include "ros/ros.h"
+// %EndTag(ROS_HEADER)%
+// %Tag(MSG_HEADER)%
+#include "std_msgs/String.h"
+// %EndTag(MSG_HEADER)%
+
+#include <sstream>
+
+int main(int argc, char **argv)
+{
+// %Tag(INIT)%
+    ros::init(argc, argv, "publisher");
+// %EndTag(INIT)%
+
+// %Tag(NODEHANDLE)%
+    ros::NodeHandle n;
+// %EndTag(NODEHANDLE)%
+
+// %Tag(PUBLISHER)%
+    ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
+// %EndTag(PUBLISHER)%
+
+// %Tag(LOOP_RATE)%
+    ros::Rate loop_rate(10);
+// %EndTag(LOOP_RATE)%
+
+// %Tag(ROS_OK)%
+    int count = 0;
+    while (ros::ok())
+    {
+// %EndTag(ROS_OK)%
+
+// %Tag(FILL_MESSAGE)%
+        std_msgs::String msg;
+
+        std::stringstream ss;
+        ss << "hello world " << count;
+        msg.data = ss.str();
+// %EndTag(FILL_MESSAGE)%
+
+// %Tag(ROSCONSOLE)%
+        ROS_INFO("%s", msg.data.c_str());
+// %EndTag(ROSCONSOLE)%
+
+// %Tag(PUBLISH)%
+        chatter_pub.publish(msg);
+// %EndTag(PUBLISH)%
+
+// %Tag(SPINONCE)%
+        ros::spinOnce();
+// %EndTag(SPINONCE)%
+
+// %Tag(RATE_SLEEP)%
+        loop_rate.sleep();
+// %EndTag(RATE_SLEEP)%
+        ++count;
+    }
+
+
+    return 0;
+}
+// %EndTag(FULLTEXT)%
--- a/RosWorkspace/src/torcs/package.xml
+++ b/RosWorkspace/src/torcs/package.xml
@@ -7,7 +7,7 @@
  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="alex@todo.todo">alex</maintainer>
+  <maintainer email="svetlana.pavlitskaya@rwth-aachen.de">Sveta</maintainer>


  <!-- One license tag required, multiple allowed, one license per tag -->